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6. APPLICATION FUNCTIONS
(5) Axis command/status bit
The axis command/status bits for continuous operation to torque control are shown below.
Address Bit Symbol Signal name
When in
tandem drive
Address Bit Symbol Signal name
When in
tandem drive
1008
0 GAIN
Gain switching
command
Each axis
1068
0 GAINO
During gain
switching
Each axis
1 FCLS
Fully closed loop
control change
command
Each axis
1 FCLSO
Fully closed loop
control changing
Each axis
2
Reserved
2 TLSO
Selecting torque
limit
Each axis
3 CPC
PID control
command
Each axis
3 SPC During PID control Each axis
4
Reserved
4
Reserved 5
5
6
6
7
7 PRSMO
During continuous
operation to torque
control
Not
supported
Address Bit Symbol Signal name
When in
tandem drive
Address Bit Symbol Signal name
When in
tandem drive
100C 0
Reserved
106C 0
Reserved
1
1
2
2
3
3
4 CTLMC
Control mode switch
command
Not
supported
4 CTLMCF
Control mode switch
complete
Not
supported
5
Reserved
5 CTLMCE
Control mode switch
error
Not
supported
6
6
Reserved
7
7
Note. The addresses above are the addresses for the first axis. For the second axis and after, increase by C0h for each axis.
(a) Details on axis command bit
Abbreviation Signal name Remarks
CTLMC Control mode switch
command
[Function]
Switch the control mode of the servo amplifier based on the control mode command.
[Operation]
When all of the following conditions are satisfied, the control mode is switched to the
specified control mode.
• "Continuous operation to torque control specification" within the "auxiliary command"
of the point in operation is set to "continuous operation to torque control valid".
• Control mode switch condition is set to "2: Manual switch".
• "Control mode command" is set to "Position control mode" or "continuous operation
to torque control mode".